Hi everyone.

I'm trying to use kuka youbot model. I got it from here.
However it seems that model.sdf has some wrong parameters.
Where is correct model.sdf ?

For example, some parameters, such as mass of arm_link_0, inertia of arm_link_1 and so on, are different from values provided by official youbot page.
Furthermore, it includes weird values. All joints' efforts and maximum velocities are zero, the positions of center of mass of arm_link mostly look wrong (Some of them are placed out of the object ...)...

Anyway, I want correct model.sdf file.
Where is correct model.sdf ?
If the model.sdf is correct, why do I have the above situation ? What is my misunderstanding ?

Thanks in advance.